CN115195860B - Steering control method and device for vehicle, storage medium, processor and vehicle - Google Patents
Steering control method and device for vehicle, storage medium, processor and vehicle Download PDFInfo
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- CN115195860B CN115195860B CN202210912385.3A CN202210912385A CN115195860B CN 115195860 B CN115195860 B CN 115195860B CN 202210912385 A CN202210912385 A CN 202210912385A CN 115195860 B CN115195860 B CN 115195860B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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Abstract
The invention discloses a steering control method and device of a vehicle, a storage medium, a processor and the vehicle. Wherein the method comprises the following steps: acquiring activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; responding to the activation state data to represent that the automatic driving system is in an activation state, and acquiring driving data of the vehicle; based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state. The invention solves the technical problem of low stability of vehicle steering control.
Description
Technical Field
The present invention relates to the field of vehicles, and in particular, to a steering control method and apparatus for a vehicle, a storage medium, a processor, and a vehicle.
Background
At present, the steering control of the vehicle can be front wheel steering control or four-wheel steering control, and the influence of different steering controls on an automatic driving system of the vehicle is not considered, so that the technical problem of low stability of the steering control of the vehicle under the automatic driving system still exists.
Aiming at the technical problem of low stability of vehicle steering control in the related art, no effective solution is proposed at present.
Disclosure of Invention
The embodiment of the invention provides a steering control method and device of a vehicle, a storage medium, a processor and the vehicle, so as to at least solve the technical problem of low stability of steering control of the vehicle.
According to an aspect of an embodiment of the present invention, there is provided a steering control method of a vehicle. The method may include: acquiring activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; responding to the activation state data to represent that the automatic driving system is in an activation state, and acquiring driving data of the vehicle; based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state.
Optionally, the method further comprises: the activation state data is again acquired in response to the activation state data characterizing that the autopilot system is not in an activated state.
Optionally, acquiring driving data of the vehicle includes: driving data is acquired based on identification data of sensors of the vehicle and positioning data of the high-precision map.
Optionally, before switching the steering state of the vehicle from the original steering state to the target steering state based on the driving data, the method further includes: in response to the driving data being first driving data, determining that the steering state is an original steering state, wherein the first driving data includes at least one of: a curvature of the vehicle track below a curvature threshold, a rear wheel steering angle of the vehicle below an angle threshold, a vehicle speed below a speed threshold.
Optionally, the method further comprises: in response to the vehicle speed being less than the speed threshold, the rear wheel steering angle is safely zeroed.
Optionally, based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state, and the method further includes: and switching the original steering state to the target steering state in response to the driving data being second driving data, wherein the second driving data includes at least one of: vehicle travel trajectory curvature above the curvature threshold, vehicle speed above the speed threshold.
According to another aspect of the embodiment of the invention, there is also provided a steering control device of a vehicle. The apparatus may include: the first acquisition unit is used for acquiring the activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; the second acquisition unit is used for responding to the activation state data to represent that the automatic driving system is in an activation state and acquiring driving data of the vehicle; and the processing unit is used for switching the steering state of the vehicle from the original steering state to the target steering state based on the driving data.
According to another aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein the device in which the computer readable storage medium is controlled to execute the steering control method of the vehicle according to the embodiment of the present invention when the program runs.
According to another aspect of an embodiment of the present invention, there is also provided a processor. The processor is used for running a program, wherein the program executes the steering control method of the vehicle according to the embodiment of the invention when running.
According to another aspect of the embodiment of the invention, a vehicle is also provided. The vehicle is used for executing the steering control method of the vehicle according to the embodiment of the invention.
In the embodiment of the invention, the activation state data of the vehicle at the current moment is obtained, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; responding to the activation state data to represent that the automatic driving system is in an activation state, and acquiring driving data of the vehicle; based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state. That is, the embodiment of the invention switches the steering state of the vehicle from the original steering state to the target steering state by acquiring the driving data of the vehicle based on the automatic driving state of the vehicle, thereby realizing the technical effect of improving the stability of the steering control of the vehicle and solving the technical problem of poor stability of the steering control of the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of another vehicle steering control method according to an embodiment of the invention;
fig. 3 is a schematic view of a steering control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the present invention, there is provided an embodiment of a steering control method of a vehicle, it being noted that the steps shown in the flowcharts of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
Fig. 1 is a flowchart of a steering control method of a vehicle according to an embodiment of the present invention, which may include the following steps as shown in fig. 1.
Step S102, acquiring the activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not.
In the technical scheme provided in the step S102, the activation state data of the vehicle at the current moment may be obtained, where the activation state data may be used to indicate whether the automatic driving system of the vehicle is in an activation state, and may be that the automatic driving system is in an activation state; the automatic driving system may be in an inactive state, and the vehicle driving state may be a driver operation driving state.
Optionally, when the automatic driving system is in an activated state, the vehicle can perform automatic driving operation under a specified condition, and can also run according to a preset road track, so that a driver is not required to monitor the state of the vehicle in real time, or the vehicle and the whole vehicle system are set; when the automatic driving system is in an inactive state, the vehicle can drive according to the instruction of a driver, wherein the vehicle can be an automobile, a bus and the like; the autopilot system may be an L3 class or higher assisted drive system.
For example, when the automatic driving system is in an activated state, the colors of the cruise control mark and the automatic driving mark in the vehicle display screen can be changed, and the color of the lane line can be changed from gray to the same color as the colors of the cruise control mark and the automatic driving mark.
Step S104, the driving data of the vehicle is acquired in response to the activation state data to represent that the automatic driving system is in an activation state.
In the technical solution provided in the above step S104 of the present invention, after the vehicle activation state data is obtained, the driving data of the vehicle may be obtained when the activation state data may be used to characterize that the vehicle autopilot system is in an activated state, where the driving data may include a curvature of a current driving road of the vehicle, a curvature of a planned driving road of the vehicle, a corner angle of a rear wheel of the vehicle, a vehicle speed, and the like.
Step S106, based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state.
In the technical solution of the above step S106 of the present invention, after the driving data is acquired, the steering state of the vehicle may be switched from the original steering state to the target steering state based on the driving data, where the original steering state may be used to characterize that the vehicle is in the front wheel steering state; the target steering state may be used to characterize the vehicle as being in a front-wheel steering state or a four-wheel steering state.
Optionally, a signal that the vehicle is in a front wheel steering state and a signal that the vehicle is running can be input into a vehicle electronic control unit (Electronic Control Unit, abbreviated as ECU) through a vehicle sensor, after analysis and calculation are performed by the vehicle electronic control unit, a driving signal is output to a vehicle stepping motor, after the driving signal is received by the vehicle stepping motor, the vehicle stepping motor controls and drives the deflection of the rear wheels of the vehicle through a vehicle rear wheel steering mechanism, meanwhile, the vehicle electronic control unit monitors the vehicle condition in real time, calculates the difference value between the target steering angle and the rear wheel steering angle of the vehicle, and adjusts the rear wheel steering angle of the vehicle in real time, so that the switching from the front wheel steering state to the four-wheel steering state of the vehicle is completed.
The step S102 to the step S106 are performed by acquiring the activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; responding to the activation state data to represent that the automatic driving system is in an activation state, and acquiring driving data of the vehicle; based on the driving data, the steering state of the vehicle is switched from the original steering state to the target steering state. That is, the embodiment of the application switches the steering state of the vehicle from the original steering state to the target steering state by acquiring the driving data of the vehicle based on the automatic driving state of the vehicle, thereby realizing the technical effect of improving the stability of the steering control of the vehicle and solving the technical problem of poor stability of the steering control of the vehicle.
The above-described method of this embodiment is further described below.
As an alternative embodiment, the method further comprises: the activation state data is again acquired in response to the activation state data characterizing that the autopilot system is not in an activated state.
In the embodiment of the invention, the activation state of the automatic driving system of the vehicle is acquired, and when the activation state data can be used for representing that the automatic driving system is not in the activation state, the activation state data of the vehicle can be acquired again until the activation state data of the vehicle can be used for representing that the automatic driving system is in the activation state.
Alternatively, when the automatic driving system is not in an active state, the steering control of the vehicle cannot be automatically switched, so the active state data may be acquired again until the active state data may be used to characterize that the automatic driving system is in an active state.
As an alternative embodiment, acquiring driving data of the vehicle includes: driving data is acquired based on identification data of sensors of the vehicle and positioning data of the high-precision map.
In the embodiment of the invention, the driving data of the vehicle can be obtained according to the identification data of the sensor of the vehicle and the positioning data of the high-precision map, wherein the identification data can be used for representing the condition identification of the current driving road through the vehicle-mounted sensor; the positioning data can be used to characterize the situational positioning of the road traveling ahead by means of a high-precision map.
Optionally, the basic condition of the running vehicle and the traffic condition of the running road of the vehicle can be identified through the sensor of the vehicle to obtain the identification data of the sensor, and the positioning data of the sensor can also be obtained through the positioning data of the high-precision map to identify the road in front of the running vehicle to obtain the positioning data of the sensor, so as to obtain the driving data of the vehicle.
Alternatively, the vehicle sensor may convert travel data detected when the vehicle turns into an electric signal, which may be a physical travel amount when the vehicle turns, to be input to the vehicle electronic control unit.
As an alternative embodiment, before switching the steering state of the vehicle from the original steering state to the target steering state based on the driving data, the method further includes: in response to the driving data being first driving data, determining that the steering state is an original steering state, wherein the first driving data includes at least one of: a curvature of the vehicle track below a curvature threshold, a rear wheel steering angle of the vehicle below an angle threshold, a vehicle speed below a speed threshold.
In the embodiment of the invention, after the driving data is acquired, before the steering state of the vehicle is switched from the original steering state to the target steering state, when the driving data of the vehicle is the first driving data, the steering state of the vehicle is determined to be the original steering state, wherein the first driving data may include at least one of the following: a curvature of the vehicle travel track below a curvature threshold, a rear wheel steering angle of the vehicle below an angle threshold, a vehicle speed below a speed threshold; the curvature threshold value, the angle threshold value and the speed threshold value may be preset values, and may be set according to the running condition of the vehicle, and the threshold values are not particularly limited here.
Optionally, the traffic conditions of the vehicle and the vehicle driving road can be identified through the vehicle-mounted sensor, and when the vehicle is driven on a straight road or a curve with curvature smaller than a curvature threshold value, the steering state of the vehicle can be determined to be front wheel steering; when the rear wheel steering angle of the vehicle is smaller than the angle threshold value, the steering state of the vehicle can be determined to be front wheel steering; when the vehicle speed is less than the speed threshold, the vehicle steering state may be determined to be front wheel steering.
Alternatively, the front road on which the vehicle is traveling may be identified by positioning of a high-precision map, and when the vehicle front road is a straight road or a curve having a curvature smaller than a curvature threshold value, it may be determined that the vehicle steering state is front-wheel steering.
As an alternative embodiment, the method further comprises: in response to the vehicle speed being less than the speed threshold, the rear wheel steering angle is safely zeroed.
In the embodiment of the invention, when the vehicle speed is smaller than the speed threshold value, the vehicle rear wheel steering angle can be directly and safely zeroed, wherein the vehicle rear wheel steering angle can be directly zeroed by controlling the vehicle steering wheel through a driver.
As an optional embodiment, step S106, based on the driving data, switches the steering state of the vehicle from the original steering state to the target steering state, and the method further includes: and switching the original steering state to the target steering state in response to the driving data being second driving data, wherein the second driving data includes at least one of: vehicle travel trajectory curvature above the curvature threshold, vehicle speed above the speed threshold.
In the embodiment of the invention, when the driving data is the second driving data, the steering state of the vehicle can be switched from the original steering state to the target steering state, wherein the second driving data comprises at least one of the following: a vehicle travel trajectory curvature above a curvature threshold and a vehicle speed above a speed threshold; the curvature threshold value and the speed threshold value may be preset values, and may be set according to the running condition of the vehicle, and the threshold value is not particularly limited here.
Alternatively, when the vehicle is traveling on a curve having a curvature higher than the curvature threshold value, the steering state of the vehicle may be switched from front-wheel steering to four-wheel steering; when the road in front of the vehicle is a curve with curvature higher than the curvature threshold value, the steering state of the vehicle can be switched from front wheel steering to four wheel steering; when the vehicle speed is higher than the speed threshold value, the steering state of the vehicle may be switched from front-wheel steering to four-wheel steering.
Alternatively, the vehicle steering state may be maintained as front wheel steering when the vehicle is traveling on a straight road or a curve having a curvature below a curvature threshold; when the vehicle rear wheel steering angle is lower than the angle threshold value, the vehicle steering state may be maintained as front wheel steering; when the vehicle speed is below the speed threshold, the vehicle steering state may remain front-wheel steering; when the road ahead of the vehicle is a straight road or a curve having a curvature lower than the curvature threshold value, the vehicle steering state may be maintained as front wheel steering.
In the embodiment of the invention, based on the fact that the steering state of the vehicle is four-wheel steering, when the speed of the vehicle is lower than the speed threshold value, the angle of the rear wheels can be reversely turned, and the turning radius is reduced, so that the running flexibility of the vehicle is improved; when the vehicle speed is higher than the speed threshold, the rear wheel angle can be steered in the same direction, so that the stability of the vehicle is improved.
Alternatively, since the desired trajectory of the automatic driving system is affected by the yaw rate and the lateral acceleration of the vehicle, in the case of high-speed control of the system, the situation in which the vehicle turning angle is lower than the angle threshold value occurs less frequently, so that the basic situation of the running vehicle may not be recognized, and in the case in which the curvature of the running road of the vehicle is lower than the curvature threshold value and the vehicle speed is lower than the speed threshold value, the vehicle steering state may be four-wheel steering.
According to the embodiment, based on the fact that the vehicle is in an automatic driving state, the steering state of the vehicle is switched from an original steering state to a target steering state by acquiring driving data of the vehicle, so that the technical effect of improving the stability of the steering control of the vehicle is achieved, and the technical problem of poor stability of the steering control of the vehicle is solved.
Example 2
The technical solution of the embodiment of the present invention will be illustrated in the following with reference to a preferred embodiment.
With the popularization of automatic driving technology, part of vehicles start to carry L3-level or above auxiliary driving systems, after the systems are started, drivers do not need to monitor the states of the vehicles in real time, the vehicles can drive under specified conditions and run according to expected tracks, the steering configurations of different vehicles are different, and the track following control of the automatic driving systems is influenced by front wheel steering or four-wheel steering.
In a related art, a four-wheel steering control system for a vehicle is proposed, which detects that the vehicle is currently in an autonomous driving mode or a non-autonomous driving mode through a driving mode detection module; when the vehicle is in an automatic driving mode, the automatic driving steering control module can respectively send a front steering control signal and a rear steering control signal to the front steering control module and the rear steering control module according to the acquired state information of the vehicle, so that the front steering control module controls the front steering angle of the vehicle, and the rear steering control module controls the rear steering angle of the vehicle, but the system can only adapt to the rear steering vehicle and has no universality.
In another related technology, a four-wheel independent steering electric vehicle four-wheel steering-front/rear wheel steering dynamic switching method is provided, the method utilizes spline curve-kinematics-dynamics track planning to carry out non-stop smooth switching between four-wheel steering and front/rear wheel steering of the 4WIS electric vehicle, but the method needs to carry out two track planning in real time to form different motion tracks so as to meet two steering control, so that the vehicle meets dynamics and kinematics requirements in the four-wheel steering and front/rear wheel steering mode switching process, and the calculation force requirement of an automatic driving controller and the vehicle control calibration work are increased.
In another related art, a rear wheel steering control system and a control method of a vehicle are provided, the system including: the cloud server is used for determining road condition information according to the vehicle position, determining a vehicle rear wheel steering control instruction according to the motion state data, determining driving habit information according to the driving habit data and sending road condition information, the vehicle rear wheel steering control instruction and the driving habit information to the TBox controller so as to control the vehicle rear wheel steering, but for an L3-level automatic driving system, the cloud server is not universal, and when the road condition information, the vehicle rear wheel steering control instruction and the driving habit information cannot be sent by the Box controller, the switching or selection of various steering control systems cannot be carried out.
In order to solve the problems, the embodiment of the invention provides a steering control method of a vehicle under an automatic driving system, which is characterized in that road traffic conditions are identified through a vehicle-mounted sensor, a front road is identified through high-precision map positioning, driver monitoring and operation are not needed, front wheel steering and four-wheel steering of the steering control system are automatically switched, the influence of the steering control system on the automatic driving system is reduced, and the stability of vehicle steering control is improved.
Embodiments of the present invention are further described below.
Fig. 2 is a flowchart of another vehicle steering control method according to an embodiment of the present invention, which includes the following steps, as shown in fig. 2.
Step S201, acquire activation state data.
In the embodiment of the invention, the activation state data of the vehicle at the current moment can be obtained, wherein the activation state data can be used for representing whether an automatic driving system of the vehicle is in an activation state or not.
Optionally, when the automatic driving system is in an activated state, the vehicle can perform automatic driving operation under a specified condition, and can also run according to a preset road track, so that a driver is not required to monitor the state of the vehicle in real time, or the vehicle and the whole vehicle system are set; when the automatic driving system is in an inactive state, the vehicle can drive according to the instruction of a driver, wherein the vehicle can be an automobile, a bus and the like; the autopilot system may be an L3 class or higher assisted drive system.
Alternatively, when the activation state data may be used to characterize that the autopilot system is not in an activated state, the activation state data may be retrieved again.
Alternatively, when the automatic driving system is not in an active state, the steering control of the vehicle cannot be automatically switched, so the active state data may be acquired again until the active state data may be used to characterize that the automatic driving system is in an active state.
Step S202, it is determined whether the vehicle steering is front wheel steering.
In the embodiment of the invention, the automatic driving system is characterized in an activated state in response to the activated state data, and whether the vehicle steering is the front wheel steering is judged.
Optionally, when the vehicle steering state is front wheel steering, step S203 is executed to determine the curvature of the current driving road; otherwise, step S205 is executed to determine the magnitude of the rear wheel steering angle of the vehicle.
Step S203, it is determined whether the current running road is of small curvature.
In the embodiment of the invention, the curvature of the current running road of the vehicle is judged in response to the steering state of the vehicle being the steering state of the front wheels.
Alternatively, the basic condition of the running vehicle and the traffic condition of the running road of the vehicle can be identified through the sensors of the vehicle, and the front road on which the vehicle runs can also be identified through the positioning of the high-precision map.
Optionally, when the curvature of the current driving road of the vehicle is small or the driving road is a straight line, step S204 is executed to determine the curvature of the front road on which the vehicle is planned to drive; otherwise, S207 is executed to determine that the vehicle steering state is four-wheel steering.
Step S204, it is determined whether the front travel road has a small curvature.
In the embodiment of the invention, the curvature of the front road on which the vehicle is planned to run is judged in response to the fact that the curvature of the current running road of the vehicle is small or the running road is a straight line.
Optionally, when the curvature of the front road on which the vehicle is planned to travel is small or the travel road is a straight line, step S208 is performed to determine that the vehicle steering state is front-wheel steering; otherwise, step S207 is executed to determine that the vehicle steering state is four-wheel steering.
Step S205, it is determined whether the vehicle rear wheel steering angle is small.
In the embodiment of the invention, the angle of the rear wheel corner of the vehicle is judged in response to the vehicle steering state being non-front wheel steering.
Alternatively, when the vehicle rear wheel steering angle is small, step S208 is performed to determine that the vehicle steering state is front wheel steering; otherwise, step S206 is executed to determine the vehicle speed.
Step S206, determining whether the vehicle speed is small.
In the embodiment of the invention, the speed of the vehicle is judged in response to the small angle of the rear wheel corner of the vehicle.
Alternatively, when the vehicle speed is large, step S207 is performed to determine that the vehicle steering state is four-wheel steering; otherwise, step S203 is executed to determine again the basic situation of the traveling vehicle and the traffic situation of the vehicle traveling road.
In step S207, the vehicle steering state is controlled to be four-wheel steering.
In the embodiment of the invention, when the vehicle runs on a curve with large curvature, the steering state of the vehicle can be switched into four-wheel steering; when the road in front of the vehicle is a curve with large curvature, the steering state of the vehicle can be switched into four-wheel steering; when the vehicle speed is high, the vehicle steering state may be switched to four-wheel steering.
Optionally, based on the steering state of the vehicle being four-wheel steering, when the speed of the vehicle is low, the angle of the rear wheels can be reversely turned, and the turning radius is reduced, so that the running flexibility of the vehicle is improved; when the vehicle speed is high, the rear wheel angle can be steered in the same direction, so that the stability of the vehicle is improved.
Alternatively, since the desired trajectory of the automatic driving system is affected by the yaw rate and the lateral acceleration of the vehicle, the situation in which the vehicle turning angle is small occurs less in the case of high-speed control of the system, so that the basic situation of the running vehicle may not be recognized, and the vehicle turning state may be four-wheel turning in the case in which the curvature of the running road of the vehicle is small and the vehicle speed is low.
In step S208, the vehicle steering state is controlled to be front wheel steering.
In the embodiment of the invention, when the vehicle runs on a straight road or a curve with small curvature, the vehicle steering state can be kept as front wheel steering; when the vehicle rear wheel steering angle is small, the vehicle steering state may be maintained as front wheel steering; when the vehicle speed is low, the vehicle steering state may be maintained as front wheel steering; when the road ahead of the vehicle is a straight road or a curve with a small curvature, the vehicle steering state can be maintained as front-wheel steering.
According to the embodiment, based on the fact that the vehicle is in an automatic driving state, the steering state of the vehicle is switched from an original steering state to a target steering state by acquiring driving data of the vehicle, so that the technical effect of improving the stability of the steering control of the vehicle is achieved, and the technical problem of poor stability of the steering control of the vehicle is solved.
Example 3
According to an embodiment of the invention, a steering control device of a vehicle is also provided. The steering control device of the vehicle may be used to execute the steering control method of the vehicle in embodiment 1.
Fig. 3 is a schematic view of a steering control apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 3, the steering control apparatus 300 of the vehicle may include: a first acquisition unit 302, a second acquisition unit 304, and a processing unit 306.
The first acquiring unit 302 is configured to acquire activation state data of the vehicle at a current moment, where the activation state data is used to characterize whether an autopilot system of the vehicle is in an activated state.
A second obtaining unit 304 is configured to obtain driving data of the vehicle in response to the activation state data indicating that the automatic driving system is in an activated state.
The processing unit 306 is configured to switch the steering state of the vehicle from the original steering state to the target steering state based on the driving data.
Optionally, the apparatus further comprises: and the third acquisition unit is used for responding to the activation state data to indicate that the automatic driving system is not in an activation state and acquiring the activation state data again.
Optionally, the second acquisition unit 304 includes: for acquiring driving data based on identification data of sensors of the vehicle and positioning data of the high-precision map.
Optionally, the apparatus further comprises: the first processing module is used for responding to the driving data as first driving data and determining that the steering state is the original steering state, wherein the first driving data comprises at least one of the following: a curvature of the vehicle track below a curvature threshold, a rear wheel steering angle of the vehicle below an angle threshold, a vehicle speed below a speed threshold.
Optionally, the apparatus further comprises: and a second processing module for safely zeroing the rear wheel steering angle in response to the vehicle speed being less than the speed threshold.
Optionally, the processing unit 306 includes: and a third processing module configured to switch the original steering state to the target steering state in response to the driving data being second driving data, where the second driving data includes at least one of: vehicle travel trajectory curvature above the curvature threshold, vehicle speed above the speed threshold.
In the embodiment of the invention, the first acquisition unit acquires the activation state data of the vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not; the second acquisition unit is used for responding to the activation state data to represent that the automatic driving system is in an activation state and acquiring driving data of the vehicle; the steering state of the vehicle is switched from the original steering state to the target steering state based on the driving data by the processing unit. That is, the invention switches the steering state of the vehicle from the original steering state to the target steering state by acquiring the driving data of the vehicle based on the vehicle being in the automatic driving state, thereby realizing the technical effect of improving the stability of the steering control of the vehicle and solving the technical problem of poor stability of the steering control of the vehicle.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes the steering control method of the vehicle in embodiment 1 of the present invention.
Example 5
According to an embodiment of the present invention, there is also provided a processor for running a program, wherein the program executes the steering control method of the vehicle in embodiment 1 of the present invention when running.
Example 6
According to an embodiment of the present invention, there is also provided a vehicle for executing the steering control method of the vehicle in embodiment 1 of the present invention.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. A steering control method of a vehicle, characterized by comprising:
Acquiring activation state data of a vehicle at the current moment, wherein the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not;
acquiring driving data of the vehicle in response to the activation state data characterizing that the autonomous driving system is in the activation state;
Switching a steering state of the vehicle from an original steering state to a target steering state based on the driving data, wherein the target steering state is used for representing that the vehicle is in a front wheel steering state or a four wheel steering state;
Wherein the method further comprises: determining that the target steering state is the front wheel steering state in response to both the curvature of the current travel road and the curvature of the front travel road being lower than a curvature threshold value in the case where the original steering state is the front wheel steering state; determining that the target steering state is the four-wheel steering state in response to a curvature of a current travel road or a curvature of a front travel road being higher than the curvature threshold;
Determining that the target steering state is the front-wheel steering state in response to an angle of a rear-wheel turning angle of the vehicle being below an angle threshold value, in a case where the original steering state is a non-front-wheel steering state; determining that the target steering state is the four-wheel steering state in response to the angle being above the angle threshold and the speed of the vehicle being above a speed threshold; in response to the angle being above the angle threshold and the speed being below the speed threshold, the target steering state is re-determined based on the base condition of the vehicle and the traffic condition of the road being traveled.
2. The method according to claim 1, wherein the method further comprises:
And acquiring the activation state data again in response to the activation state data characterizing that the autopilot system is not in the activation state.
3. The method of claim 1, wherein obtaining driving data of the vehicle comprises:
And acquiring the driving data according to the identification data of the sensor of the vehicle and the positioning data of the high-precision map.
4. The method of claim 1, wherein prior to switching the steering state of the vehicle from an original steering state to a target steering state based on the driving data, the method further comprises:
In response to the driving data being first driving data, determining that the steering state is an original steering state, wherein the first driving data includes at least one of: the vehicle travel track curvature below the curvature threshold, the vehicle rear wheel steering angle below the angle threshold, the vehicle speed below the speed threshold.
5. The method according to claim 4, wherein the method further comprises:
In response to the vehicle speed being less than the speed threshold, the rear wheel steering angle is safely zeroed.
6. The method of claim 1, wherein the steering state of the vehicle is switched from an original steering state to a target steering state based on the driving data, the method further comprising:
And switching the original steering state to the target steering state in response to the driving data being second driving data, wherein the second driving data includes at least one of: -a curvature of the vehicle trajectory above the curvature threshold, -a speed of the vehicle above the speed threshold.
7. A steering control device for a vehicle, comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring activation state data of a vehicle at the current moment, and the activation state data is used for representing whether an automatic driving system of the vehicle is in an activation state or not;
A second obtaining unit configured to obtain driving data of the vehicle in response to the activation state data characterizing that the automated driving system is in the activation state;
The processing unit is used for switching the steering state of the vehicle from an original steering state to a target steering state based on the driving data, wherein the target steering state is used for representing that the vehicle is in a front wheel steering state or a four wheel steering state;
Wherein the device is further configured to determine that the target steering state is the front wheel steering state in response to both the curvature of the current travel road and the curvature of the front travel road being below a curvature threshold value, if the original steering state is the front wheel steering state; determining that the target steering state is the four-wheel steering state in response to a curvature of a current travel road or a curvature of a front travel road being higher than the curvature threshold;
Determining that the target steering state is the front-wheel steering state in response to an angle of a rear-wheel turning angle of the vehicle being below an angle threshold value, in a case where the original steering state is a non-front-wheel steering state; determining that the target steering state is the four-wheel steering state in response to the angle being above the angle threshold and the speed of the vehicle being above a speed threshold; in response to the angle being above the angle threshold and the speed being below the speed threshold, the target steering state is re-determined based on the base condition of the vehicle and the traffic condition of the road being traveled.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform the method according to any one of claims 1 to 6.
9. A processor for running a program, wherein the program when run performs the method of any one of claims 1 to 6.
10. A vehicle, characterized by being adapted to perform the method of any one of claims 1 to 6.
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| CN202210912385.3A CN115195860B (en) | 2022-07-29 | 2022-07-29 | Steering control method and device for vehicle, storage medium, processor and vehicle |
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| CN202210912385.3A CN115195860B (en) | 2022-07-29 | 2022-07-29 | Steering control method and device for vehicle, storage medium, processor and vehicle |
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| CN115195860B true CN115195860B (en) | 2024-06-14 |
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| JP6624677B2 (en) * | 2016-03-16 | 2019-12-25 | 株式会社Ｓｕｂａｒｕ | Vehicle travel control device |
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| CN111290407B (en) * | 2020-03-30 | 2023-09-15 | 新石器慧通（北京）科技有限公司 | Automatic driving vehicle and steering adjustment method thereof |
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| CN105083374A (en) * | 2014-05-07 | 2015-11-25 | 株式会社万都 | Method for controlling rear wheel steering |
| CN114454871A (en) * | 2022-03-09 | 2022-05-10 | 李灏铧 | Unmanned platform stable tracking control method for four-wheel independent drive |
| CN114572182A (en) * | 2022-03-22 | 2022-06-03 | 浙江吉利控股集团有限公司 | Vehicle control method, system, device and storage medium based on rear wheel steering |
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